Applying screw theory to robot dynamics

DOI10.1016/0021-8928(91)90080-EMaRDI QIDQ1190876zbMATH OpenOpenAlexFDO

Authors J. M. Selig

Publication date 27 September 1992

Published in Journal of Applied Mathematics and Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0021-8928(91)90080-e

zbMATH Keywords

dynamicskinematicsrigid-body dynamicsLagrange equationsscrew calculationssix-link manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(7)

• Finite and instantaneous screw theory in robotic mechanism
• Analytische Mechanik polarer Systeme
• Time derivatives of screws with applications to dynamics and stiffness
• Review: Don't Cross-Thread the Screw!
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• The Geometry of Virtual Work Dynamics in Screw Space

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